Mini Master

MC4N-ECAT Mini Master

The MC4N is a high performance Motion Coordinator which is dedicated to running remote servo and stepper
drives via the EtherCAT real time automation bus. It is based on an up-rated version of the 532MHz ARM 11 processor
which makes it ideal for high axis count machines or robotic applications.

Plug and Play

The MC4N supports up to 32 axes of motion with 64 bit integer position registers for ultra precise axis resolution.
EtherCAT slave drives and I/O can be connected and run in cyclic synchronous position, speed or torque modes provided
these are supported by the drive.

Every axis can be programmed to move using
linear, circular or helical or spherical interpolation, electronic cams, linked axes and gearboxes. The power of the
controller allows for multiple robotic transformations to run simultaneously.

Easy to use

A bright easy to read backlit display enables the controller status to be easily determined, whilst the single
piece metal cast backplate provides an integrated earth chassis to improve noise rejection in the industrial
environment.

Familiar Tools

The built-in Ethernet port allows programming and connection of common PLC and HMI protocols, including the Trio Uniplay range of HMIs, directly to the MC4N. User programs can be written in
Trio’s established multi-tasking TrioBASIC language using the powerful Motion Perfect v4 application development software making complex motion easy.
The industry standard IEC 61131-3 languages are available as an option, allowing a fully functional PLC programming
system.

Product

P900MC4N-ECAT

Description

32 axis panel mounted motion coordinator for EtherCAT

Name

MC4N-ECAT

PCode

P900

Status

Current

Configuration

P900MC4N-ECAT

Axis 0

Extended

Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

Axis 7

Axes

P900MC4N-ECAT

Max axes

32

Max networked axes

32

Max virtual axes

32

Max discrete wired axes

1

Performance

P900MC4N-ECAT

Cores

1

Processor

ARM11

Clock frequency

532 MHz

Maths precision

IEEE 457 Double

Position register precision

64 bit

Execution benchmark

35 lines/ms

Real-time clock

Yes

Flash memory

32 x 16000 values

User memory

8 MB

Table memory

512000 values

Min expected flash memory life (normal use)

42 years

Maximum VR variables

4096

Maximum servo period

2000 µs

Minimum servo period

125 µs

Maximum encoder input frequency

6.000 MHz

Maximum stepper output frequency

2.000 MHz

Drive interfaces

P900MC4N-ECAT

Auxilliary axis

No

EtherCAT

Yes

Hydraulic

No

Piezo

No

Panasonic RTEX

No

SERCOS

No

Servo

No

SLM

No

Step & direction

Axis0

Communications

P900MC4N-ECAT

Anybus

No

Bluetooth

No

CANopen

Yes

CC-Link

No

DeviceNet

Yes

Ethernet

Yes

EthernetIP

Yes

Hostlink

Yes

MODBUS-RTU

Yes

MODBUS-TCP/IP

Yes

Profibus

No

ProfiNet

Yes

RS232/RS485

Yes

USB 1.1

No

Encoder ports

P900MC4N-ECAT

Feedback input

No

Incremental (A+B) output

Yes

Pulse & direction output

Yes

Reference input

Yes

SSI Absolute Input

Yes

EnDat Absolute Input

Yes

Tamagawa Absolute Input

Yes

BiSS Absolute Input

Yes

Internal I/O

P900MC4N-ECAT

+/-10V analogue outputs

0

Analogue output precision

12 bits

Analogue Inputs (0-10V)

0

Analog input precision

12 bits

Digital Bidirectional I/O (24V)

8

Digital Inputs (24Vdc)

8

Digital outputs (24Vdc)

0

Registration inputs

4

Registration speed

1 µs

Watchdogs

1

Watchdog rating

29V, 100mA max

External I/O

P900MC4N-ECAT

+/-10V analogue outputs

16

Analogue output precision

12 bits

+/-10V analogue inputs

32

Analogue input precision

12 bits

Digital I/O points

1024

Programming

P900MC4N-ECAT

Trio BASIC

Yes

DXF in

Yes

G-Code

Yes

HPGL

Yes

IEC61131

Yes

Kinematic

Option

Maximum programs

64

Maximum tasks

22

Software

P900MC4N-ECAT

Motion Perfect version

4

Expansion

P900MC4N-ECAT

Expansion module type

None

Maximum modules

0

Memory card

SD

Physical

P900MC4N-ECAT

Maximum operating temperature

45 °C

Minimum operating temperature

0 °C

Mount

Panel

Depth

120.0 mm

Height

157.0 mm

Width

40.0 mm

Weight

432 g

Power

P900MC4N-ECAT

Supply current

350 mA

Supply tolerance

+/- 20%

Supply voltage

24 V

Certification

P900MC4N-ECAT

CE

Yes

RoSH

Yes

UL

Yes

Axis Configuration Key

Core functionality

CORE AXES – can be configured in software as pulse and direction outputs with stepper or servo drives. They can also be configured for incremental encoder feedback.

Core functionality is a set of ATYPEs (Axis TYPEs) that are available on all controllers. They are based on pulse outputs and incremental encoder feedback.

ATYPE

Description

43

Pulse and direction output with enable output

45

Quadrature encoder output with enable output

63

Pulse and direction output with Z input

64

Quadrature encoder output with Z input

76

Incremental encoder with Z input

78

Pulse and direction with VFF_GAIN and enable output 1

Extended functionality

EXTENDED AXES – in addition to the Core functionality these axes can also be configured for absolute encoders and closed loop servos (requires voltage output).

Only axes marked as AS have an analogue output and can be used for closed loop control.
All Extended Axes can use these ATYPE's as feedback.
If you want to just use the feedback and not complete a closed loop servo system set SERVO = OFF

CAN 16-Out I/O Module (P317)
The Trio CAN16 Output module provides 256 distributed output channels at 24Vdc level. All points are short-circuit proof and completely isolated from the CANbus. P317 modules may be mixed on the same bus, with other types in the Trio CAN I/O range.

CAN 8-Relay Module (P327)
The Trio CAN8 Relay module provides 128 distributed low power relay channels at up to 30Vdc or 49Vac. All output points are Volt-free contacts and are completely isolated from the CANbus. P327 modules may be mixed on the same bus, with other types in the Trio CAN I/O range.

Products - Generic

UNIPLAY HMI (7") (P843)
Trio’s unique UNIPLAY HMI system is a revolutionary way to make operator interfaces better, easier and more secure! The UNIPLAY series boasts a 7" and 10" colour display.

UNIPLAY HMI (7") (P844)
Trio’s unique UNIPLAY HMI system is a revolutionary way to make operator interfaces better, easier and more secure! The UNIPLAY series boasts a 10" colour display.

Firmware - MC4N ECAT

LATEST USER RELEASE:

File:

MC4NE_20295.zip

Version:

2.0295

Size:

1377085 bytes

Date:

2018-Nov-15

Software - Programming

Motion PerfectMotion Perfect is designed to make setup, diagnostics, commissioning and using our range of Motion Coordinators as simple as possible. It provides the user with an easy to understand Windows based interface for rapid application development, controller configuration and monitoring of controller processes.

IEC 61131-3 Runtime Software (P877)
IEC 61131-3 standardises the programming language, the instruction sets and the handling and structuring of projects. As supplied, the IEC 61131 system will run programs for one hour after power-on, to allow engineers to try out their standard programs on the Motion Coordinator hardware. For continuous running, a software key (Feature Enable Code) can be downloaded free of charge from the Trio website for each Motion Coordinator to run IEC 61131 programs. (Log on to E-Store to purchase).

Software - Expansion

Kinematic Runtime FEC (P750)
The P750 Robot kinematic runtime enables the more complex FRAME transformations which enable easy programming of various types of robot Including SCARA and Delta.(Log on to E-Store to purchase).

CAD2MotionThe
program allows the user to create motion paths in a CAD package such as AutoCAD and convert them
into code executable by a Trio Motion Coordinator.

AutoLoaderA compact, self-contained package designed to allow simple
distribution of projects written using Motion Perfect. Simply add the project to the Autoloader
folder, edit a script file to provide control of the loading sequence and send to the customer.

Trio MCLoaderThe Trio MC Loader is a Windows ActiveX control which can
load projects (produced with Motion Prefect) and programs onto a Trio Motion Coordinator.
Communication with the Motion Cordinator can be via serial link, USB, Ethernet or PCI depending
on the Motion Coordinator.

Trio PCMotionPCMotion is an ActiveX component allowing direct connection
to the Trio Motion Coordinator from a custom user application. It can be used to control any of
the Motion Coordinator functionality as well as send text files down to the controller.

TextFileLoader
The file loading functionality of the Motion Coordinators allows files to be easily loaded into the controller memory or the SD card (when fitted). This allows programs written in text based languages such as G-Code and HPGL to be loaded to the controller where they can be parsed and executed by a TrioBASIC program. The transfer process is optimized to compress the file and reduce transfer times, or it can be set to stream the file into a FIFO buffer on the controller. This can help reduce overall machine cycle times when file sizes can be large and so making communication time significant.